CN111894954A - Memory alloy spring pin - Google Patents
Memory alloy spring pin Download PDFInfo
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- CN111894954A CN111894954A CN202010599889.5A CN202010599889A CN111894954A CN 111894954 A CN111894954 A CN 111894954A CN 202010599889 A CN202010599889 A CN 202010599889A CN 111894954 A CN111894954 A CN 111894954A
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- pin
- memory alloy
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 109
- 238000010438 heat treatment Methods 0.000 claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 8
- 238000000926 separation method Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 238000001816 cooling Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/02—Bolts or sleeves for positioning of machine parts, e.g. notched taper pins, fitting pins, sleeves, eccentric positioning rings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Springs (AREA)
Abstract
The invention provides a memory alloy spring pin which comprises a mounting seat, a side cover, a bottom cover, a pin, a check ring, a pin spring, a pin hole seat, a locking plate, a locking spring, a pressing plate, an insulating heat-insulating pad, a heating plate, a memory alloy sheet, a flat pad and an electric connector, wherein a fastening screw is positioned in the side cover, sequentially penetrates through the flat pad, the insulating heat-insulating pad, the memory alloy sheet, the heating plate, the insulating heat-insulating pad and the pressing plate from top to bottom, and is finally screwed into a screw hole in the mounting seat; the mounting seat comprises two cavities, one cavity is used for mounting the spring pin assembly, and the other cavity is used for mounting the electric connector; the side cover is arranged on the side surface of the mounting seat, and the bottom cover is arranged at the bottom of the mounting seat. The memory alloy spring pin structure and the electric connector are integrally designed, the structure is compact, and the memory alloy spring pin is very convenient to install and plug in and pull out the electric connector.
Description
Technical Field
The invention relates to a memory alloy spring pin, which is particularly suitable for unlocking a micro-nano satellite and rocket separation mechanism, unfolding unlocking a solar wing or unfolding an on-board antenna with the separation impact requirement of less than 100g, and can also be used for other separation unlocking mechanisms with low-impact unlocking requirements.
Background
After the micro-nano satellite enters the orbit, the locking of the satellite-rocket separation mechanism on the micro-nano satellite or the antenna needs to be released through the pin puller, and after the satellite-borne antenna enters the orbit along with the satellite, the locking of the antenna unfolding mechanism on the antenna needs to be released through the pin puller. The traditional pin puller generally adopts a fire pin puller, has the problem of overlarge unlocking impact, can be used only once, and is gradually replaced by a non-fire pin puller with small impact (such as a memory alloy pin puller and the like). However, most of the existing memory alloy pin extractors provide pin-extracting force directly through memory alloy, and due to the limitations of power consumption and material performance, the locking force which can be provided by the memory alloy is generally small, and the bearing capacity of the pin extractor is also limited. In addition, after the memory alloy is electrified and heated, the memory alloy can be reset generally only after being cooled, and the next test can be carried out.
Disclosure of Invention
The technical problem of the invention is solved: the memory alloy spring pin overcomes the defects of the prior art, and is suitable for unlocking a micro-nano satellite-rocket separation mechanism and unfolding and unlocking a satellite-borne antenna aiming at the task requirements of small unlocking impact, large locking force and reusability of the micro-nano satellite, a solar wing or the satellite-borne antenna on-orbit separation.
The technical solution of the invention is as follows:
a memory alloy spring pin comprises a mounting seat, a side cover, a bottom cover, a pin, a retainer ring, a pin spring, a pin hole seat, a locking plate, a locking spring, a pressing plate, an insulating and heat-insulating pad, a heating plate, a memory alloy sheet, a flat pad and an electric connector,
the fastening screw is positioned in the side cover, sequentially penetrates through the flat pad, the insulating heat-insulating pad, the memory alloy sheet, the heating sheet, the insulating heat-insulating pad and the pressing plate from top to bottom, and is finally screwed into a screw hole in the mounting seat;
the mounting seat comprises two cavities, one cavity is used for mounting the spring pin assembly, and the other cavity is used for mounting the electric connector;
the side cover is arranged on the side surface of the mounting seat, the bottom cover is arranged at the bottom of the mounting seat,
the pin column sequentially penetrates through a round hole in the right side wall of the mounting seat, a round hole in the middle reinforcing rib, a locking plate, a retainer ring, a pin column spring and a round hole in the left side wall from the right side, and is finally inserted into a pin hole in the pin hole seat to form a spring pin assembly;
one end of the locking plate is a circular ring, the other end of the locking plate is a slender strip, the end part of the slender strip is a hook, the hook part of the hook is a slender kidney-shaped groove, the locking plate is inserted into the cylindrical hole from the side narrow slit of the mounting seat, and the slender strip sequentially passes through the locking spring and the pressing plate and is finally hooked on the memory alloy plate;
the heating plate has two, and 2 leads are every, and all leads are gathered to an electric connector, and the electric connector is fixed mounting on the mount pad.
Preferably, the memory alloy sheet material is a one-way memory alloy or a two-way memory alloy, two ends of the memory alloy sheet material are circular rings, and the memory alloy sheet material is connected into a whole through a V-shaped filament in the middle.
Preferably, the tip of the V-shaped filament is hooked by a locking plate hook, and the circular rings on the two sides are fixed on the mounting seat by fastening screws.
Preferably, the heating plate has two, each has 2 leads, and all the leads are gathered to an electric connector, and the electric connector is directly mounted on the mounting seat through screws.
Preferably, when the locking mechanism is used for locking, the pin is pushed towards the pin hole seat, the pin spring is stressed and compressed, the pin is inserted into the pin hole in the pin hole seat, in the pin moving process, when the annular groove in the pin moves to the position corresponding to the locking plate, the locking plate slides into the annular groove under the action of the locking spring, the pin compresses the locking plate under the action of the pin spring, the pin cannot move axially, and the locking of the pin is achieved.
Preferably, when unlocking, the lock can be unlocked by electrifying or manually.
Preferably, when the lock is unlocked by electrifying, the memory alloy spring pin supplies power to 2 heating sheets through the electric connector, the heating sheets generate heat to enable the temperature of the memory alloy sheet to rise rapidly, when the memory alloy sheet reaches high-temperature phase transition temperature, a shape memory alloy effect is caused, the middle V-shaped part becomes in a straight shape, the locking plate is pulled to slide out of the annular groove in the pin column, when the axis of the pin column is superposed with the axis of the round hole in the locking plate, the pin column can move outwards along the axis direction under the action of the pin column spring because the diameter of the pin column is smaller than that of the round hole in the locking plate, and the pin column is pulled out of the pin hole seat, so that the unlocking function.
Preferably, when manual unlocking is adopted, a thin sheet similar to a coin is inserted into a narrow slit of the mounting seat from the outer side, the locking plate is pushed inwards, when the axis of the pin column is coincident with the axis of the round hole in the locking plate, the pin column can move outwards along the axis direction under the action of the pin column spring because the diameter of the pin column is smaller than the diameter of the round hole in the locking plate, and the pin column is pulled out of the pin hole seat, so that the unlocking function is realized.
Preferably, the hook part of the lock plate hook is a slender kidney-shaped groove, so that the lock plate cannot be blocked by the V-shaped part of the memory alloy sheet in the moving process, and the V-shaped part of the memory alloy sheet can relatively slide in the slender kidney-shaped groove of the lock plate.
Preferably, after the power-on unlocking, the V-shaped part of the memory alloy sheet is changed into a straight line, at the moment, the electric connector is powered off, the side cover is opened, 2 fastening screws are unscrewed, a new memory alloy sheet is replaced, the memory alloy sheet is restored, the pin column is pushed towards the direction of the pin hole seat, and the locking operation is carried out again.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, the spring is adopted to replace the memory alloy to provide the pin pulling force, the provided pin pulling force is larger and does not need to consume electric energy, and the memory alloy sheet is used as a trigger source for unlocking the pin puller, so that the power of the trigger source for unlocking the pin puller is larger than that of the trigger source for unlocking the pin puller, namely the unlocking time is shorter under the condition of the same power consumption;
(2) the invention provides two unlocking modes, namely, the memory alloy sheet can be electrified for unlocking, the locking plate can be manually pushed by means of a tool for unlocking, and the memory alloy sheet can be electrified for unlocking when in-orbit operation; when the ground does not need to carry out an electric test at ordinary times, the locking plate is pushed to be unlocked manually, so that the time is saved;
(3) the invention can be used repeatedly, after the unlocking device is unlocked by using the memory alloy power-on unlocking mode, the memory alloy sheet can be reset in a mode of replacing the memory alloy sheet, if the used memory alloy sheet is a two-way memory alloy sheet, although the memory alloy sheet is waited to automatically reset in a cooling mode, because the volume size of the memory alloy sheet is smaller than that of a memory alloy piece used by an unlocking device which only uses the memory alloy to provide pin pulling force, the needed cooling time is relatively shorter; when the unlocking performance of the memory alloy does not need to be verified or the memory alloy power-on unlocking mode does not need to be used, the locking plate can be repeatedly pushed manually by means of a tool to unlock without waiting and consuming electric energy;
(4) the memory alloy spring pin structure and the electric connector are integrally designed, the structure is compact, and the memory alloy spring pin is very convenient to install and plug in and pull out the electric connector;
(5) the unlocking device can be used for unlocking a micro/nano satellite and rocket separation mechanism or unfolding and unlocking a satellite-borne antenna, and can also be used for unlocking other spacecrafts or unfolding mechanisms.
Drawings
FIG. 1 is a plan view of a memory alloy spring pin according to the present invention in a locked state;
FIG. 2 is a perspective view of a memory alloy spring pin according to the present invention;
FIG. 3 is a schematic view of an unlocked state of a memory alloy spring latch according to the present invention;
FIG. 4 is a schematic diagram of a memory alloy spring pin according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, a memory alloy spring pin comprises a mounting seat 1, a side cover 2, a bottom cover 3, a pin 4, a retainer ring 5, a pin spring 6, a pin hole seat 7, a locking plate 8, a locking spring 9, a pressure plate 10, an insulating and heat-insulating pad 11, a heating plate 12, a memory alloy plate 13, a flat pad 14 and an electrical connector 16, and the overall appearance is as shown in fig. 4.
The fastening screw 15 is positioned inside the side cover 2, sequentially penetrates through the flat mat 14, the insulating and heat-insulating mat 11, the memory alloy sheet 13, the heating sheet 12, the insulating and heat-insulating mat 11 and the pressing plate 10 from top to bottom, and is finally screwed into a screw hole on the mounting seat 1;
the mounting seat 1 comprises two cavities, one cavity is provided with a spring pin assembly, and the other cavity is used for mounting an electric connector;
the side cover 2 is arranged on the side surface of the mounting seat 1, the bottom cover 3 is arranged on the bottom,
the pin 4 sequentially penetrates through a right side wall round hole, a middle reinforcing rib round hole, a locking plate 8, a retainer ring 5, a pin spring 6 and a left side wall round hole of the mounting seat 1 from the right side, and is finally inserted into a pin hole on a pin hole seat 7 to form a spring pin assembly;
one end of the locking plate 8 is a circular ring, the other end of the locking plate is a slender strip, the end part of the slender strip is a hook, the hook part of the hook is a slender kidney-shaped groove, the locking plate 8 is inserted into the inner cylindrical hole of the installation seat 1 from the side narrow slit, the slender strip sequentially passes through the locking spring 9 and the pressing plate 10, and finally the slender strip is hooked on the memory alloy sheet 13;
the heating plate 12 has two, each having 2 leads, all of which are collected in an electrical connector 16, the electrical connector 16 being fixedly mounted to the mounting block 1.
The memory alloy sheet 13 is made of one-way memory alloy or two-way memory alloy, two ends of the memory alloy sheet are circular rings, the circular rings are connected into a whole through a V-shaped filament in the middle, the tip of the V-shaped filament is hooked by a locking sheet 8, and the circular rings on two sides are fixed on the mounting seat 1 through fastening screws 15.
The heating plate 12 has two, each having 2 leads, all of which are collected in an electrical connector 16, and the electrical connector 16 is directly mounted on the mounting base 1 by screws.
When locking, promote round pin post 4 to pinhole seat direction, the compression of round pin post spring 6 atress, the pinhole on round pin post 4 inserts pinhole seat 7, at round pin post 4 removal in-process, when the ring channel on round pin post 4 removed with locking plate 8 positions, locking plate 8 slips into the ring channel under the effect of locking spring 9, round pin post 4 compresses tightly locking plate 8 under round pin post spring 6's effect, makes the round pin post can not follow axial displacement, realizes the locking of round pin post.
When unlocking is carried out, two modes of power-on unlocking or manual unlocking can be carried out, as shown in fig. 3, when power-on unlocking is adopted, the memory alloy spring pin supplies power to the 2 heating plates 12 through the electric connector 16, the heating plates 12 generate heat to enable the temperature of the memory alloy plate 13 to rise rapidly, when the memory alloy plate 13 reaches high-temperature phase transition temperature, the shape memory alloy effect is caused, the middle V-shaped part is changed into a straight shape, the locking plate 8 is pulled to slide out of the annular groove in the pin column 4, when the axis of the pin column 4 is coincident with the axis of the round hole in the locking plate 8, the diameter of the pin column 4 is smaller than that of the round hole in the locking plate 8, the pin column 4 can move outwards along the axis direction under the action of the pin column spring 6, the pin column 4 is pulled out.
When manual unlocking is adopted, a thin sheet similar to a coin is inserted into a narrow slit of the mounting seat 1 from the outer side, the locking plate 8 is pushed inwards, when the axis of the pin 4 is coincident with the axis of the round hole in the locking plate 8, the diameter of the pin 4 is smaller than that of the round hole in the locking plate 8, the pin 4 can move outwards along the axis direction under the action of the pin spring 6, the pin 4 is pulled out from the pin hole seat 7, and therefore the unlocking function is achieved.
The hooking part of the hook of the lock plate 8 is a slender kidney-shaped groove, so the lock plate is not blocked by the V-shaped part of the memory alloy sheet 13 in the moving process, and the V-shaped part of the memory alloy sheet 13 can relatively slide in the slender kidney-shaped groove of the lock plate 8.
After power-on unlocking, the V-shaped part of the memory alloy sheet 13 is changed into a straight line shape, at the moment, the electric connector 16 is powered off, the side cover 2 is opened, 2 fastening screws 15 are unscrewed, a new memory alloy sheet is replaced, the memory alloy sheet is restored, the pin 4 is pushed towards the direction of the pin hole seat, and locking operation is carried out again.
During initial state, the pin post passes right side wall round hole, middle strengthening rib round hole, locking plate 8, retaining ring 5, pin post spring 6 and left side wall round hole of mount pad 1 in proper order from the drawing right side.
When locking, the round pin post 4 is promoted to pinhole seat direction with the hand, round pin post spring 6 atress compression, round pin post 4 inserts the pinhole on the pinhole seat 7, at round pin post 4 removal in-process, when the ring channel on round pin post 4 moved to with locking plate 8 position, locking plate 8 slided into the ring channel under the effect of locking spring 9, round pin post 4 compresses tightly locking plate 8 under round pin post spring 6's effect, make the round pin post can not follow axial displacement, realize round pin post locking, as shown in fig. 1.
In order to realize repeated use, the memory alloy spring pin needs to be reset firstly, and the memory alloy spring pin is divided into two conditions, wherein one condition is reset after power-on unlocking, and the other condition is reset after manual unlocking.
After power-on unlocking, the V-shaped part of the memory alloy sheet 13 is changed into a straight line, at the moment, the electric connector 16 is powered off, the side cover 2 is opened, 2 fastening screws 15 are unscrewed, a new memory alloy sheet is replaced, and then the memory alloy sheet is restored according to the figure. The pin 4 is pushed toward the pin hole seat by hand, and locking operation is performed again.
If the memory alloy sheet is a two-way memory alloy, the memory alloy sheet can be reset in another mode except for replacing a new sheet, namely, after the electric connector 16 is powered off, when the temperature of the memory alloy sheet 13 is reduced from the high-temperature phase transition temperature to the low-temperature phase transition temperature, the memory alloy sheet can automatically recover to a V shape. At this time, the pin 4 can be pushed toward the pin boss by hand to perform the locking operation again.
When the lock is unlocked manually, the shape of the memory alloy sheet 13 is not changed, and the pin 4 can be directly pushed towards the pin hole seat by hand to lock again.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A memory alloy spring pin, characterized in that: comprises a mounting seat (1), side covers (2), a bottom cover (3), a pin (4), a retainer ring (5), a pin spring (6), a pin hole seat (7), a locking plate (8), a locking spring (9), a pressing plate (10), an insulating heat-insulating pad (11), a heating plate (12), a memory alloy plate (13), a flat pad (14) and an electric connector (16),
the fastening screw (15) is positioned in the side cover (2), sequentially penetrates through the flat pad (14), the insulating and heat-insulating pad (11), the memory alloy sheet (13), the heating sheet (12), the insulating and heat-insulating pad (11) and the pressing plate (10) from top to bottom, and is finally screwed into a screw hole in the mounting seat (1);
the mounting seat (1) comprises two cavities, one cavity is provided with the spring pin assembly, and the other cavity is used for mounting the electric connector;
the side surface of the mounting seat (1) is provided with a side cover (2), the bottom is provided with a bottom cover (3),
the pin column (4) sequentially penetrates through a right side wall round hole, a middle reinforcing rib round hole, a locking plate (8), a check ring (5), a pin column spring (6) and a left side wall round hole of the mounting seat (1) from the right side, and is finally inserted into a pin hole in a pin hole seat (7), so that a spring pin assembly is formed;
one end of the locking plate (8) is a circular ring, the other end of the locking plate is a slender strip, the end part of the slender strip is a hook, the hook part of the hook is a slender kidney-shaped groove, the locking plate (8) is inserted into the cylindrical hole from the narrow slit on the side surface of the mounting seat (1), the slender strip sequentially passes through the locking spring (9) and the pressing plate (10), and finally the slender strip is hooked on the memory alloy sheet (13);
the heating plates (12) are two in number, each heating plate is provided with 2 leads, all the leads are gathered on an electric connector (16), and the electric connector (16) is fixedly arranged on the mounting seat (1).
2. The memory alloy spring pin of claim 1, wherein: the memory alloy sheet (13) is made of one-way memory alloy or two-way memory alloy, two ends of the memory alloy sheet are circular rings, and the two ends of the memory alloy sheet are connected into a whole through a V-shaped filament in the middle.
3. The memory alloy spring pin of claim 2, wherein: the tip of the V-shaped filament is hooked by a locking plate (8), and the circular rings at two sides are fixed on the mounting seat (1) by fastening screws (15).
4. The memory alloy spring pin of claim 1, wherein: the heating plates (12) are two in number, each heating plate is provided with 2 leads, all the leads are gathered on one electric connector (16), and the electric connector (16) is directly arranged on the mounting seat (1) through screws.
5. The memory alloy spring pin of claim 1, wherein: when locking, promote round pin post (4) to pinhole seat direction, round pin post spring (6) atress compression, round pin post (4) insert the pinhole on round pin hole seat (7), at round pin post (4) removal in-process, when the ring channel on round pin post (4) remove with locking plate (8) position, locking plate (8) slide into the ring channel under the effect of locking spring (9), round pin post (4) compress tightly locking plate (8) under the effect of round pin post spring (6), make round pin post can not follow axial displacement, realize the locking of round pin post.
6. The memory alloy spring pin of claim 1, wherein: when unlocking, the lock can be unlocked by electrifying or manually.
7. The memory alloy spring pin of claim 6, wherein: when the lock is unlocked by electrifying, the memory alloy spring pin supplies power to the 2 heating plates (12) through the electric connector (16), the heating plates (12) generate heat to enable the temperature of the memory alloy plate (13) to rise rapidly, when the memory alloy plate (13) reaches high-temperature phase transition temperature, the shape memory alloy effect is caused, the middle V-shaped part becomes in a straight shape, the locking plate (8) is pulled to slide out of the annular groove on the pin column (4), when the axis of the pin column (4) is coincident with the axis of the round hole on the locking plate (8), the diameter of the pin column (4) is smaller than that of the round hole on the locking plate (8), the pin column (4) can move outwards along the axis direction under the action of the pin column spring (6), the pin column (4) is pulled out of the pin hole seat (7), and the unlocking function is realized.
8. The memory alloy spring pin of claim 6, wherein: when adopting manual unblock, use the thin slice of similar coin to insert the slot of mount pad (1) from the outside, inwards promote locking plate (8), when the axis of round hole axis coincidence on axis and the locking plate (8) of round pin post (4), because round pin post (4) diameter is less than locking plate (8) round hole diameter, round pin post (4) can be along the outside removal of axis direction under the effect of round pin post spring (6), extract round pin post (4) from round pin hole seat (7), thereby realize the unblock function.
9. The memory alloy spring pin of claim 1, wherein: the hook part of the hook of the lock plate (8) is a slender kidney-shaped groove, so the lock plate is not blocked by the V-shaped part of the memory alloy sheet (13) in the moving process, and the V-shaped part of the memory alloy sheet (13) can relatively slide in the slender kidney-shaped groove of the lock plate (8).
10. The memory alloy spring pin of claim 1, wherein: after the power-on unlocking, the V-shaped part of the memory alloy sheet (13) is changed into a straight line shape, at the moment, the electric connector (16) is powered off, the side cover (2) is opened, 2 fastening screws (15) are unscrewed, a new memory alloy sheet is replaced, the memory alloy sheet is restored, the pin columns (4) are pushed towards the direction of the pin hole seats, and the locking operation is carried out again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010599889.5A CN111894954B (en) | 2020-06-28 | 2020-06-28 | Memory alloy spring pin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010599889.5A CN111894954B (en) | 2020-06-28 | 2020-06-28 | Memory alloy spring pin |
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| Publication Number | Publication Date |
|---|---|
| CN111894954A true CN111894954A (en) | 2020-11-06 |
| CN111894954B CN111894954B (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010599889.5A Active CN111894954B (en) | 2020-06-28 | 2020-06-28 | Memory alloy spring pin |
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| Country | Link |
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| CN (1) | CN111894954B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852380A (en) * | 2022-05-13 | 2022-08-05 | 南京理工大学 | Unlocking device for releasing micro-nano satellite load |
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| CN111894954B (en) | 2022-03-04 |
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